46 lines
1.4 KiB
C
46 lines
1.4 KiB
C
|
/*
|
||
|
|
* SharedDiagonal.h
|
||
|
|
* @brief Class that wraps a shared noise model with diagonal covariance
|
||
|
|
* @Author: Frank Dellaert
|
||
|
|
* Created on: Jan 22, 2010
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "NoiseModel.h"
|
||
|
|
|
||
|
|
namespace gtsam { // note, deliberately not in noiseModel namespace
|
||
|
|
|
||
|
|
// A useful convenience class to refer to a shared Diagonal model
|
||
|
|
// There are (somewhat dangerous) constructors from Vector and pair<size_t,double>
|
||
|
|
// that call Sigmas and Sigma, respectively.
|
||
|
|
struct SharedDiagonal: public noiseModel::Diagonal::shared_ptr {
|
||
|
|
SharedDiagonal() {
|
||
|
|
}
|
||
|
|
SharedDiagonal(const noiseModel::Diagonal::shared_ptr& p) :
|
||
|
|
noiseModel::Diagonal::shared_ptr(p) {
|
||
|
|
}
|
||
|
|
SharedDiagonal(const noiseModel::Constrained::shared_ptr& p) :
|
||
|
|
noiseModel::Diagonal::shared_ptr(p) {
|
||
|
|
}
|
||
|
|
SharedDiagonal(const noiseModel::Isotropic::shared_ptr& p) :
|
||
|
|
noiseModel::Diagonal::shared_ptr(p) {
|
||
|
|
}
|
||
|
|
SharedDiagonal(const noiseModel::Unit::shared_ptr& p) :
|
||
|
|
noiseModel::Diagonal::shared_ptr(p) {
|
||
|
|
}
|
||
|
|
SharedDiagonal(const Vector& sigmas) :
|
||
|
|
noiseModel::Diagonal::shared_ptr(noiseModel::Diagonal::Sigmas(sigmas)) {
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
// TODO: make these the ones really used in unit tests
|
||
|
|
inline SharedDiagonal sharedSigmas(const Vector& sigmas) {
|
||
|
|
return noiseModel::Diagonal::Sigmas(sigmas);
|
||
|
|
}
|
||
|
|
inline SharedDiagonal sharedSigma(int dim, double sigma) {
|
||
|
|
return noiseModel::Isotropic::Sigma(dim, sigma);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|